A High-Speed Tactile Sensor for Slip Detection

2012 ◽  
pp. 403-415 ◽  
Author(s):  
Carsten Schürmann ◽  
Matthias Schöpfer ◽  
Robert Haschke ◽  
Helge Ritter
Keyword(s):  
High Speed ◽  
Tactile Sensor ◽  
Slip Detection

STAND-UP MOTION SUPPORT BY A MOBILE MANIPULATOR SYSTEM WITH HIGH SPEED TACTILE SENSORS

2011 ◽  
Vol 08 (03) ◽  
pp. 181-195
Author(s):  
ZHAOXIAN XIE ◽  
HISASHI YAMAGUCHI ◽  
MASAHITO TSUKANO ◽  
AIGUO MING ◽  
MAKOTO SHIMOJO
Keyword(s):  
Fuzzy Logic ◽  
Feedback Control ◽  
Experimental Verification ◽  
High Speed ◽  
Center Of Pressure ◽  
Tactile Sensor ◽  
Mobile Manipulator ◽  
Tactile Sensing ◽  
Robot Arm ◽  
Tactile Sensors

As one of the home services by a mobile manipulator system, we are aiming at the realization of the stand-up motion support for elderly people. This work is charaterized by the use of real-time feedback control based on the information from high speed tactile sensors for detecting the contact force as well as its center of pressure between the assisted human and the robot arm. First, this paper introduces the design of the tactile sensor as well as initial experimental results to show the feasibility of the proposed system. Moreover, several fundamental tactile sensing-based motion controllers necessary for the stand-up motion support and their experimental verification are presented. Finally, an assist trajectory generation method for the stand-up motion support by integrating fuzzy logic with tactile sensing is proposed and demonstrated experimentally.

scholarly journals Grasping Force Control of Multi-fingered Robot Hand based on Slip Detection Using Tactile Sensor

2007 ◽  
Vol 25 (6) ◽  
pp. 970-978 ◽  
Author(s):  
Daisuke Gunji ◽  
Takuma Araki ◽  
Akio Namiki ◽  
Aiguo Ming ◽  
Makoto Shimojo
Keyword(s):  
Force Control ◽  
Tactile Sensor ◽  
Robot Hand ◽  
Grasping Force ◽  
Slip Detection

scholarly journals Learning Spatio Temporal Tactile Features with a ConvLSTM for the Direction Of Slip Detection

Sensors ◽  
2019 ◽  
Vol 19 (3) ◽  
pp. 523 ◽  
Author(s):  
Brayan Zapata-Impata ◽  
Pablo Gil ◽  
Fernando Torres
Keyword(s):  
Tactile Sensor ◽  
Robotic Manipulators ◽  
Complex Task ◽  
Spatio Temporal ◽  
Unseen Objects ◽  
Slip Detection

Robotic manipulators have to constantly deal with the complex task of detecting whether a grasp is stable or, in contrast, whether the grasped object is slipping. Recognising the type of slippage—translational, rotational—and its direction is more challenging than detecting only stability, but is simultaneously of greater use as regards correcting the aforementioned grasping issues. In this work, we propose a learning methodology for detecting the direction of a slip (seven categories) using spatio-temporal tactile features learnt from one tactile sensor. Tactile readings are, therefore, pre-processed and fed to a ConvLSTM that learns to detect these directions with just 50 ms of data. We have extensively evaluated the performance of the system and have achieved relatively high results at the detection of the direction of slip on unseen objects with familiar properties (82.56% accuracy).

1A1-H11 Development of High Speed and Sensitivity Slip Sensor : Method of Slip Detection using Pressure Conductive Rubber

2008 ◽  
Vol 2008 (0) ◽  
pp. _1A1-H11_1-_1A1-H11_2
Author(s):  
Seiichi Teshigawara ◽  
Tomohiro Nishinaga ◽  
Masatoshi Ishikawa ◽  
Makoto Shimojo
Keyword(s):  
High Speed ◽  
Conductive Rubber ◽  
Slip Sensor ◽  
Slip Detection

116 Slip detection using a hybrid tactile sensor system for a robot gripping an object

2012 ◽  
Vol 2012.61 (0) ◽  
pp. _116-1_-_116-2_
Author(s):  
Naoto INAGUMA ◽  
Takuya KAWAMURA ◽  
Kazuo TANI ◽  
Hironao YAMADA
Keyword(s):  
Tactile Sensor ◽  
Sensor System ◽  
Slip Detection

A modular high-speed tactile sensor for human manipulation research

2011 ◽  
Author(s):  
Carsten Schurmann ◽  
Risto K~oiva ◽  
Robert Haschke ◽  
Helge Ritter
Keyword(s):  
High Speed ◽  
Tactile Sensor

A Flexible Tactile Capacitive Sensor for Slip Detection

2011 ◽  
Author(s):  
Jinah Chung ◽  
Baek-chul Kim ◽  
H. R. Choi ◽  
H. P. Moon ◽  
Y. K. Lee ◽  
...  
Keyword(s):  
Tactile Sensor ◽  
Capacitive Sensor ◽  
Robot Hand ◽  
Sensor Device ◽  
Sensor Structure ◽  
Slip Sensor ◽  
Slip Detection

A tactile sensor for slip detection is necessary for humanlike grasping in robot hand. This paper reports a capacitive tactile slip sensor that can detect slip on the surface of the sensor structure. The newly developed capacitive slip sensor uses acrlyro-nitrile butadien rubber (NBR) as substrate. The presented sensor device in this paper has fingerprint -like structures that are similar with the role of the human’s fingerprint. Movement of the structure that attached on surface of substrate arise capacitance changes, and these are used to detect slip. We carried out slip experiment by prototype of capacitive slip sensor and slip was successfully detected.

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